/*
 * File: kalman_integrateAcc.c
 *
 * MATLAB Coder version            : 5.6
 * C/C++ source code generated on  : 11-Jun-2025 13:42:02
 */

/* Include Files */
#include "imu_accandgyro.h"

double prevGyro[3];

double prevAcc[3];

boolean_T isInitialized_kalman_predict = false;

/* Function Definitions */
/*
 * ���������λ�������ʼ�� (������������)
 * Arguments    : void
 * Return Type  : void
 */
void kalman_integrateAcc_init(void)
{
  prevAcc[0] = 0.0;
  prevAcc[1] = 0.0;
  prevAcc[2] = 9.81;
  
}

/* Function Definitions */
/*
 * function [dang,prevgyrooutput] = kalman_integrateGyro(freq,gyro,prevgyro)
 *
 * Arguments    : void
 * Return Type  : void
 */
void kalman_integrateGyro_init(void)
{
 
  prevGyro[0] = 0.0;
  prevGyro[1] = 0.0;
  prevGyro[2] = 0.0;
}

/* Function Definitions */
/*
 * Arguments    : void
 * Return Type  : void
 */
void kalman_predict_initialize(void)
{
  kalman_integrateGyro_init();
  kalman_integrateAcc_init();
  isInitialized_kalman_predict = true;
}

void kalman_predict_terminate(void)
{
  isInitialized_kalman_predict = false;
}
/*
 * File trailer for kalman_integrateAcc.c
 *
 * [EOF]
 */
 
